Note
Refer to "64.Body Control 10I.Troubleshooting(Central GateWay) diagnostic system check - central gateway controls".
Caution
1) Connect the scan tool.
2) Turn ON the ignition switch.
3) Check the vehicle specifications and verify the status of communication with the following control modules using a scan tool. Can communication with any of the control modules be established?
Yes
=>Go to EHCU communication verification.
No
1) Check the communication status with the EHCU with a scan tool. Is communication with the EHCU established?
Yes
=>Go to EPS motor control unit communication verification.
No
Go to Lost communication with the EHCU.
1) Verify that communication can be established with the EPS motor control unit using the scan tool. Can communication with the EPS motor control unit be established?
Yes
=>Go to SRS control unit communication verification.
No
Go to Lost communication with the EPS motor control unit.
Refer to "56.Steering Control 6A.Troubleshooting lost communication with the EPS motor control unit".
1) Verify that communication can be established with the SRS control unit using a scan tool. Can communication with the SRS control unit be established?
Yes
=>Go to Information module communication verification.
No
Go to Lost communication with the SRS control unit.
1) Verify that communication can be established with the information module using the scan tool. Can communication with the information module be established?
Yes
=>Go to Parking aid system control unit communication verification.
No
Go to Lost communication with the information module.
1) Verify that communication can be established with the parking aid system control unit using a scan tool. Can communication with the parking aid system control unit be established?
Yes
=>Go to Stereo camera communication verification.
No
Go to Lost communication with the parking aid system control unit.
1) Verify that communication can be established with the stereo camera using the scan tool. Can communication with the stereo camera be established?
Yes (Models with radar sensors)
=>Go to Radar sensor (Right) communication verification.
Yes (Except models with radar sensors)
=>Go to Inspection for open circuit and short circuit in Chassis CAN communication circuit.
No
Go to Lost communication with the stereo camera.
Refer to "75.Driver Assistance System 10W.Troubleshooting(Stereo Camera) lost communication with the stereo camera".
1) Verify that communication can be established with the radar sensor (Right) using the scan tool. Is communication with the radar sensor (Right) established?
Yes
=>Go to Radar sensor (Left) communication verification.
No
Go to Lost communication with the radar sensor.
Refer to "75.Driver Assistance System 10W.Troubleshooting(Radar Sensor (Left)) Lost communication with radar sensor".
1) Verify that communication can be established with the radar sensor (Left) using the scan tool. Is communication with the radar sensor (Left) established?
Yes
=>Go to Inspection for open circuit and short circuit in Chassis CAN communication circuit.
No
Go to Lost communication with the radar sensor.
Refer to "75.Driver Assistance System 10W.Troubleshooting(Radar Sensor (Right)) Lost communication with radar sensor".
1) Inspect for an intermittent short together between the CAN Low and CAN High circuits, and an intermittent short to ground or intermittent short to the power supply circuit. Is the result normal?
2) Inspect for intermittent open circuits in the CAN Low circuit and CAN High circuit in the control unit with which communication cannot be established. Is the result normal?
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Are all of the results normal?
Yes
No
Repair the circuit as necessary.
1) Turn OFF the ignition switch.
2) Disconnect the EHCU harness connector (C13).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the EHCU using a scan tool. Can communication with control units other than the EHCU be established?
Yes
No
=>Go to Inspection of steering angle sensor.
1) Turn OFF the ignition switch.
2) Disconnect the steering angle sensor harness connector (B33).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the steering angle sensor using a scan tool. Can communication with control units other than the steering angle sensor be established?
Yes
=>Go to Steering angle sensor replacement.
No
=>Go to EPS motor control unit inspection.
1) Turn OFF the ignition switch.
2) Disconnect the EPS motor control unit harness connector (C116).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the EPS motor control unit using the scan tool. Can communication with control units other than the EPS motor control unit be established?
Yes
=>Go to EPS motor control unit replacement.
No
=>Go to SRS control unit inspection.
1) Turn OFF the ignition switch.
2) Disconnect the SRS control unit harness connector (B8 or B9).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the SRS control unit using the scan tool. Can communication with control units other than the SRS control unit be established?
Yes
=>Go to SRS control unit replacement.
No
=>Go to Information module inspection.
1) Turn OFF the ignition switch.
2) Disconnect the information module harness connector (C105).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the information module using the scan tool. Can communication with control units other than the information module be established?
Yes
=>Go to Information module replacement.
No
=>Go to Parking aid system control unit inspection.
1) Turn OFF the ignition switch.
2) Disconnect the parking aid system control unit harness connector (C16).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the parking aid system control unit using a scan tool. Can communication with control units other than the parking aid system control unit be established?
Yes
=>Go to Parking aid system control unit replacement.
No
=>Go to Stereo camera inspection.
1) Turn OFF the ignition switch.
2) Disconnect the stereo camera harness connector (L17).
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
3) Turn ON the ignition switch.
4) Verify that communication can be established with control units other than the stereo camera using the scan tool. Can communication with control units other than the stereo camera be established?
Yes
=>Go to Stereo camera replacement.
No (Models with radar sensors)
=>Go to Chassis CAN communication circuit resistance check (Models with radar sensors).
No (Except models with radar sensors)
=>Go to Chassis CAN communication circuit resistance check (Except models with radar sensors).
1) Measure the resistance of the radar sensor (Right) (pins 2 and 5 of R40) from the backside of the radar sensor (Right) harness connector with a DMM. Is the resistance within the specified range?
Note
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Value: 50 to 70 Ω
Yes
No
=>Go to Radar sensor (Right) internal resistance inspection.
1) Disconnect the radar sensor (Left) harness connector (R41).
2) Measure the resistance of the radar sensor (Left) harness connector (pins 3 and 4 of R41) with a DMM. Is the resistance within the specified range?
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 with DPD))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Refer to "RHD Controller Area Network (Central Gateway C/U (4JJ3 without DPD, RZ4E))" in the ETM (wiring diagram). (Open using the ETM viewer.).
Value: 110 to 130 Ω
Yes
=>Go to Central gateway control unit replacement.
No
Replace the radar sensor (Right).
Note
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor removal".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor installation".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor setting".
=>Go to Communication verification after radar sensor (Right) replacement.
1) Verify that communication can be established with the radar sensor (Right) using the scan tool. Is communication with the radar sensor (Right) established?
Yes
No
Replace the radar sensor (Left).
Note
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor removal".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor installation".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. radar sensor setting".
1) Measure the resistance at the CAN resister (pins 6 and 8 of C3) from the backside of the Fuse and Relay Box (Instrument Panel) harness connector with a DMM. Is the resistance within the specified range?
Note
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Value: 50 to 70 Ω
Yes
No
=>Go to CAN resistor inspection.
1) Disconnect the central gateway control unit harness connector (B41).
2) Measure the resistance at the CAN resister (pins 6 and 8 of C3) from the backside of the Fuse and Relay Box (Instrument Panel) harness connector with a DMM. Is the resistance within the specified range?
Refer to "LHD Controller Area Network (Central Gateway C/U)" in the ETM (wiring diagram). (Open using the ETM viewer.).
Value: 110 to 130 Ω
Yes
=>Go to Central gateway control unit replacement.
No
Replace the CAN resistor.
Note
Refer to "4.Brakes 4Z.Brake Electrical Control EHCU removal".
Refer to "4.Brakes 4Z.Brake Electrical Control EHCU installation".
Refer to "4.Brakes 4Z.Brake Electrical Control EHCU setting".
Procedure completion
Note
Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor removal".
Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor installation".
Refer to "6.Steering 6Z.Steering Electrical Control steering angle sensor setting".
Procedure completion
Note
Refer to "6.Steering 6B.Power Assisted System power steering unit removal".
Refer to "6.Steering 6B.Power Assisted System power steering unit disassembly".
Refer to "6.Steering 6B.Power Assisted System power steering unit reassembly".
Refer to "6.Steering 6B.Power Assisted System power steering unit installation".
Procedure completion
Note
Refer to "8.Restraints 8Z.Seat Belt and SRS Airbag Electrical Control SRS control unit removal".
Refer to "8.Restraints 8Z.Seat Belt and SRS Airbag Electrical Control SRS control unit installation".
Refer to "8.Restraints 8Z.Seat Belt and SRS Airbag Electrical Control SRS control unit setting".
Procedure completion
Note
Refer to "9.Body, Cab, Accessories 9Z.Body, Cab, Accessories Electrical Control information module removal".
Refer to "9.Body, Cab, Accessories 9Z.Body, Cab, Accessories Electrical Control information module installation".
Refer to "9.Body, Cab, Accessories 9Z.Body, Cab, Accessories Electrical Control information module setting".
Procedure completion
Note
Procedure completion
Note
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera removal".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera installation".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera setting".
Refer to "9.Body, Cab, Accessories 9E.Instrumentation, Driver Info. stereo camera writing".
Procedure completion
Note
Refer to "9.Body, Cab, Accessories 9Z.Body, Cab, Accessories Electrical Control central gateway control unit removal".
Refer to "9.Body, Cab, Accessories 9Z.Body, Cab, Accessories Electrical Control central gateway control unit setting".
Procedure completion
1) Check the vehicle specifications and verify the status of communication with the following control modules using a scan tool. Can communication with all the control modules be established?
Yes
The system is normal.
No